Unfortunately, there is no 'good' way to get to those seals. At least for the less than totally committed and skillful home mechanic. The procedure has been described here in the forums before, usually in conjunction with the clutch slave master cylinder repair/replacement. The hang-up? You have to start at the back of the bike and start removing parts: wheel, rear drive, drive shaft, tranny, etc.
Several people on the site have done it, but I saw it was rated for ten hours or so shop labor, and quickly decided that would probably be 40 hours for me and weeks of a partially disemboweled whale in my garage.